you have full freedom to do it, you can make almost any sex pose out there,, some could look weird or can glitch, but so far considdering all stuff.. it seems the game is stable, but ofc it does need a lot more polish.
Quoting you because your response made me think to do it. You're right, the freedom to make almost any pose is there, but it can be hard to learn how to do what you want to do with the tools provided. People share plenty of completed poses/scripts but I don't think I've seen anyone share the process of actually creating one, so I made a basic one in a few minutes and recorded it, sped it up by 3x and uploaded that as a timelapse that people could look at to get an idea. I'd usually take more time tweaking/polishing a pose after the point where this ends.
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Most of it comes down to practice and understanding how moving one part of the model affects the other parts, like how moving the head affects the hip angle.
To try to get ahead of questions:
1. The display that shows the colored sections is done by holding "Alt"
2. I use the FaunaLabs mod to select those poses at the start as a base, but those poses are in the base game too.
3. Handjobs are the most finnicky thing in the software to do, you'll see that I'm moving the camera to get it right, and it's because the 3d nature of it and not having widgets like most 3d programs means the camera's position relative to what you're doing often matters, especially so with trying to make any limb interact with anything.
4. The fingers freaking out on Y'shtola's neck happens due to the hair nearby, I'm right-clicking the individual fingers and posing them so that it stops trying to auto-resolve the placement.